A realization of haptic training system by multilateral control

Seiichiro Katsura, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2768-2773
Number of pages6
Volume3
DOIs
Publication statusPublished - 2004
EventIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society - Busan, Korea, Republic of
Duration: 2004 Nov 22004 Nov 6

Other

OtherIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society
CountryKorea, Republic of
CityBusan
Period04/11/204/11/6

Fingerprint

Robots
Systems analysis
Decomposition
Control systems

Keywords

  • Disturbance Observer
  • Force Control
  • Haptics
  • Multilateral Control
  • Surgical Robot
  • Training System

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Katsura, S., & Ohnishi, K. (2004). A realization of haptic training system by multilateral control. In IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 2768-2773). [FD5-2] https://doi.org/10.1109/IECON.2004.1432246

A realization of haptic training system by multilateral control. / Katsura, Seiichiro; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 3 2004. p. 2768-2773 FD5-2.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Katsura, S & Ohnishi, K 2004, A realization of haptic training system by multilateral control. in IECON Proceedings (Industrial Electronics Conference). vol. 3, FD5-2, pp. 2768-2773, IECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society, Busan, Korea, Republic of, 04/11/2. https://doi.org/10.1109/IECON.2004.1432246
Katsura S, Ohnishi K. A realization of haptic training system by multilateral control. In IECON Proceedings (Industrial Electronics Conference). Vol. 3. 2004. p. 2768-2773. FD5-2 https://doi.org/10.1109/IECON.2004.1432246
Katsura, Seiichiro ; Ohnishi, Kouhei. / A realization of haptic training system by multilateral control. IECON Proceedings (Industrial Electronics Conference). Vol. 3 2004. pp. 2768-2773
@inproceedings{4998932ceafb4d5a9d2a82051a07cd92,
title = "A realization of haptic training system by multilateral control",
abstract = "In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.",
keywords = "Disturbance Observer, Force Control, Haptics, Multilateral Control, Surgical Robot, Training System",
author = "Seiichiro Katsura and Kouhei Ohnishi",
year = "2004",
doi = "10.1109/IECON.2004.1432246",
language = "English",
volume = "3",
pages = "2768--2773",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - A realization of haptic training system by multilateral control

AU - Katsura, Seiichiro

AU - Ohnishi, Kouhei

PY - 2004

Y1 - 2004

N2 - In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.

AB - In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.

KW - Disturbance Observer

KW - Force Control

KW - Haptics

KW - Multilateral Control

KW - Surgical Robot

KW - Training System

UR - http://www.scopus.com/inward/record.url?scp=20544452918&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=20544452918&partnerID=8YFLogxK

U2 - 10.1109/IECON.2004.1432246

DO - 10.1109/IECON.2004.1432246

M3 - Conference contribution

AN - SCOPUS:20544452918

VL - 3

SP - 2768

EP - 2773

BT - IECON Proceedings (Industrial Electronics Conference)

ER -